         alpha-beta-radian-list (map #(calc-alpha-beta (first %1) %2) r-theta-list (map (fn [x] (last x)) strokes-z))
         alpha-beta-degree-list (map (fn [[alpha beta]] (list (radian-to-degree alpha) (radian-to-degree beta))) alpha-beta-radian-list)]
     (println input-str)
-    (map (fn [[_ theta] [alpha beta]] (list theta beta (- 180 alpha beta))) r-theta-list alpha-beta-degree-list)))
+    (map (fn [[_ theta] [alpha beta]] (list (- theta) (- 90. beta) (+ alpha beta))) r-theta-list alpha-beta-degree-list)))
 
 (defn write-strokes [angles-seq]
   (doseq [[base-angle first-angle second-angle] angles-seq]


(def PI Math/PI)

(def base-high 10.3)

(def first-arm 14.)

(def second-arm 15.2)

(defn to-int [val]
  (int (+ 0.5 val)))

        (conj reslt-strokes (fill-gap (last last-stroke) (first (first left-strokes))))))))

(defn process-stroke [stroke scale default-z]
  (map (fn [[x y]] (list (- (* field-size (/ x scale)) (/ field-size 2.)) (+ (* field-size (/ (- scale y) scale)) min-y) default-z)) stroke))

(defn dump-strokes [strokes title]
  (println (str title " >>>"))
